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QuRT and POSIX changes - part 5

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Last part of the main QuRT related changes

Signed-off-by: Mark Charlebois <charlebm@gmail.com>
This commit is contained in:
Mark Charlebois
2015-04-24 01:39:25 -07:00
parent 187f13cd70
commit a1332e699c
10 changed files with 42 additions and 19 deletions
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src/modules/commander/gyro_calibration.cpp
+5 -4
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@@ -42,11 +42,12 @@
#include "commander_helper.h"
#include <px4_posix.h>
#include <px4_time.h>
#include <stdio.h>
#include <unistd.h>
#include <fcntl.h>
#include <poll.h>
#include <math.h>
#include <cmath>
#include <string.h>
#include <drivers/drv_hrt.h>
#include <uORB/topics/sensor_combined.h>
@@ -193,9 +194,9 @@ int do_gyro_calibration(int mavlink_fd)
/* maximum allowable calibration error in radians */
const float maxoff = 0.0055f;
if (!isfinite(gyro_scale[0].x_offset) ||
!isfinite(gyro_scale[0].y_offset) ||
!isfinite(gyro_scale[0].z_offset) ||
if (!PX4_ISFINITE(gyro_scale[0].x_offset) ||
!PX4_ISFINITE(gyro_scale[0].y_offset) ||
!PX4_ISFINITE(gyro_scale[0].z_offset) ||
fabsf(xdiff) > maxoff ||
fabsf(ydiff) > maxoff ||
fabsf(zdiff) > maxoff) {